Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 199)

8 Command Reference
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)
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8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)
(1) Overview
The Parallel Fork (PFORK) command performs parallel execution for blocks with the designated labels. After
each parallel process has been executed, execution is merged at the label designated by the JOINTO command. A
maximum of four parallel processes can be designated.
For further in formation on the labels, refer to 7.1.2 (1) Label.
Fig. 8.54 Designating Parallel Execution Commands (PFORK, JOINTO, PJOINT)
With the above commands, the labelled blocks (process1, process2, process3,...) designated by the PFORK com-
mand are executed in parallel. After each parallel process has been executed, execution is merged at the label
designated by the JOINTO commands.
These commands enable the designation of any combination of commands for parallel execution, such as axis
move commands and sequence commands, or axis move commands and another axis move commands.
(a) Commands Designated Before PFORK
Values set by commands designated before the PFORK command, e.g., FMX, ABS/INC, F designation, IFP,
PLN, IAC/IDC, are effective in processes executed in parallel for the parallel execution commands.
Commands can also be used to set different values in each of the parallel processes. After merging, process-
ing will continue using the values set in the leftmost process.
Motion Programs Sequence Programs
Applicable Not applicable
PJOINT
Label X
JOINTO label X
PFORK
JOINTO label X JOINTO Label X
Process 4
JOINTO label X
Process 1 Process 2 Process 3
Label 1 Label 2 Label 3 Label 4